version: 66.06
glider: 148
mission: 9
dive: 336
start: 12 22 110 6 5 13
data:
$ID,148
$MISSION,9
$DIVE,336
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,185
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-865157.06
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,46
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,055836,2249.982,-15802.787,12,1.0,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.43
$_SM_ANGLEo,-66.4
$GPS2,060419,2250.001,-15802.800,13,1.8,30,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.011
$KALMAN_X,-46458.5,22.4,-35.9,58617.7,367.8
$KALMAN_Y,-4559.9,-575.8,212.5,134766.4,-126.6
$MHEAD_RNG_PITCHd_Wd,77.3,9900,-15.9,-9.009
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-73.95,0.000,2,0.000,0.000,414,1888,3273,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.8,-5.5,10,131,11.60,2.78,-8.27,0.000,4,0.156,0.045,2600,193,3719,0,0,0,0,0,0
$GC,167,-1.03,-146.0,21.1,-18.3,19,176,0.12,2.53,0.00,0.000,6,0.084,0.020,2630,1784,3720,0,0,0,0,0,0
$GC,447,-0.95,-146.0,58.4,-13.1,49,452,0.10,2.53,0.00,0.000,4,0.130,0.031,2651,3368,3720,0,0,0,0,0,0
$GC,526,-0.95,-146.0,67.6,-11.9,55,530,0.00,2.53,0.00,0.000,6,0.000,0.022,2650,1779,3720,0,0,0,0,0,0
$GC,793,-1.03,-146.0,98.2,-9.6,79,797,0.00,2.55,0.00,0.000,4,0.000,0.029,2651,3370,3721,0,0,0,0,0,0
$GC,866,-1.19,-146.0,105.7,-9.2,85,872,0.20,2.45,0.00,0.000,6,0.042,0.021,2555,1817,3721,0,0,0,0,0,0
$GC,1128,-1.01,-146.0,141.4,-13.7,110,1141,0.35,2.58,0.00,0.000,4,0.085,0.036,2636,210,3722,0,0,0,0,0,0
$GC,1148,-0.93,-146.0,143.8,-12.0,111,1154,0.10,2.53,0.00,0.000,6,0.115,0.019,2659,1840,3722,0,0,0,0,0,0
$GC,1414,-1.09,-146.0,161.9,-6.8,136,1419,0.15,2.40,0.00,0.000,4,0.052,0.029,2566,3363,3722,0,0,0,0,0,0
$GC,1514,-1.01,-146.0,172.6,-12.1,145,1519,0.32,2.42,0.00,0.000,6,0.079,0.022,2640,1826,3723,0,0,0,0,0,0
$GC,1780,-1.13,-146.0,194.9,-7.5,169,1785,0.12,2.47,0.00,0.000,4,0.064,0.030,2566,3363,3723,0,0,0,0,0,0
$GC,1830,-1.13,-146.0,200.5,-10.7,173,1835,0.20,2.40,0.00,0.000,6,0.084,0.022,2612,1847,3723,0,0,0,0,0,0
$GC,2113,-1.13,-146.0,228.0,-9.6,180,2117,0.00,2.40,0.00,0.000,4,0.000,0.031,2612,3358,3723,0,0,0,0,0,0
$GC,2170,-1.21,-146.0,233.5,-9.1,181,2174,0.00,2.38,0.00,0.000,6,0.000,0.024,2612,1856,3723,0,0,0,0,0,0
$GC,2447,-1.21,-146.0,256.3,-7.9,188,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2612,1854,3723,0,0,0,0,0,0
$GC,2691,-1.21,-146.0,274.7,-7.5,194,2695,0.00,2.40,0.00,0.000,4,0.000,0.033,2612,3358,3723,0,0,0,0,0,0
$GC,2772,-1.36,-146.0,281.1,-7.4,195,2777,0.20,2.35,0.00,0.000,6,0.042,0.025,2525,1868,3723,0,0,0,0,0,0
$GC,3021,-1.19,-146.0,311.6,-12.7,201,3027,0.30,2.40,0.00,0.000,4,0.088,0.035,2594,3361,3722,0,0,0,0,0,0
$GC,3056,-1.19,-146.0,315.4,-9.4,201,3061,0.00,2.35,0.00,0.000,6,0.000,0.026,2594,1875,3722,0,0,0,0,0,0
$GC,3306,-1.19,-146.0,337.9,-9.0,207,3310,0.00,2.38,0.00,0.000,4,0.000,0.038,2594,3351,3722,0,0,0,0,0,0
$GC,3324,-1.19,-146.0,339.8,-10.0,207,3329,0.00,2.35,0.00,0.000,6,0.000,0.025,2594,1882,3722,0,0,0,0,0,0
$GC,3588,-1.19,-146.0,363.3,-8.8,214,3592,0.00,2.40,0.00,0.000,4,0.000,0.039,2594,3353,3721,0,0,0,0,0,0
$GC,3608,-1.19,-146.0,364.9,-8.1,214,3612,0.00,2.33,0.00,0.000,6,0.000,0.027,2594,1892,3720,0,0,0,0,0,0
$GC,3872,-1.19,-146.0,384.6,-7.4,221,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1892,3719,0,0,0,0,0,0
$GC,4115,-1.19,-146.0,402.5,-7.3,227,4119,0.00,2.38,0.00,0.000,4,0.000,0.041,2594,3352,3718,0,0,0,0,0,0
$GC,4142,-1.25,-146.0,404.4,-8.1,227,4146,0.00,2.35,0.00,0.000,6,0.000,0.028,2594,1894,3718,0,0,0,0,0,0
$GC,4401,-1.25,-146.0,424.2,-7.6,234,4402,0.00,0.00,0.00,0.000,6,0.000,0.000,2594,1894,3716,0,0,0,0,0,0
$GC,4645,-1.32,-146.0,443.0,-7.8,240,4649,0.00,2.40,0.00,0.000,4,0.000,0.045,2594,3352,3714,0,0,0,0,0,0
$GC,4675,-1.40,-146.0,445.3,-7.9,240,4680,0.17,2.35,0.00,0.000,6,0.049,0.029,2522,1901,3714,0,0,0,0,0,0
$GC,4934,-1.27,-146.0,476.4,-12.5,247,4942,0.25,2.88,0.00,0.000,4,0.091,0.061,2580,220,3712,0,0,0,0,0,0
$GC,4956,-1.27,-146.0,479.0,-11.9,247,4960,0.00,2.67,0.00,0.000,6,0.000,0.031,2580,1880,3712,0,0,0,0,0,0
$STATE,5217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5217,begin apogee
$GC,5225,-0.31,0.0,503.0,9.0,254,5346,0.93,0.00,118.03,0.868,6,0.075,0.000,2791,1673,3120,0,0,0,0,0,0
$STATE,5347,end apogee,CONTROL_FINISHED_OK
$STATE,5347,begin climb
$GC,5349,1.17,146.0,508.7,0.0,257,5480,1.30,2.62,120.68,0.852,4,0.027,0.067,3124,186,2523,0,0,0,0,0,0
$GC,5486,0.85,199.4,510.5,6.8,260,5540,0.38,2.40,45.85,0.828,6,0.106,0.031,3047,1658,2306,0,0,0,0,0,0
$GC,5804,0.75,199.4,480.5,9.7,268,5809,0.10,2.55,0.00,0.000,4,0.130,0.060,3025,187,2297,0,0,0,0,0,0
$GC,5842,0.64,199.4,476.7,10.2,268,5848,0.12,2.45,0.00,0.000,6,0.115,0.028,2999,1686,2296,0,0,0,0,0,0
$GC,6094,0.69,236.9,457.5,7.4,275,6131,0.00,0.00,31.85,0.813,6,0.000,0.000,2999,1685,2153,0,0,0,0,0,0
$GC,6375,0.73,271.2,435.9,7.6,282,6408,0.00,0.00,30.98,0.802,6,0.000,0.000,2999,1686,2014,0,0,0,0,0,0
$GC,6619,0.86,307.5,417.9,7.5,288,6659,0.20,0.00,33.88,0.794,6,0.046,0.000,3086,1686,1864,0,0,0,0,0,0
$GC,6904,0.72,307.5,383.2,12.5,295,6907,0.30,0.00,0.00,0.000,6,0.091,0.000,3020,1686,1858,0,0,0,0,0,0
$GC,7146,0.75,325.9,362.3,8.2,301,7170,0.00,2.70,16.23,0.736,4,0.000,0.051,3020,3261,1790,0,0,0,0,0,0
$GC,7190,0.82,325.9,358.5,9.1,302,7194,0.00,2.62,0.00,0.000,6,0.000,0.034,3020,1689,1787,0,0,0,0,0,0
$GC,7480,0.88,325.9,331.9,9.5,309,7485,0.12,2.62,0.00,0.000,4,0.066,0.062,3079,171,1785,0,0,0,0,0,0
$GC,7505,0.77,325.9,328.3,13.5,309,7510,0.25,2.45,0.00,0.000,6,0.098,0.026,3027,1690,1785,0,0,0,0,0,0
$GC,7766,0.77,325.9,298.1,11.8,316,7770,0.00,2.60,0.00,0.000,4,0.000,0.048,3027,3254,1784,0,0,0,0,0,0
$GC,7799,0.85,325.9,294.1,11.3,316,7803,0.00,2.60,0.00,0.000,6,0.000,0.032,3027,1682,1782,0,0,0,0,0,0
$GC,8049,0.92,325.9,268.0,10.2,322,8054,0.15,2.62,0.00,0.000,4,0.054,0.040,3089,3254,1782,0,0,0,0,0,0
$GC,8083,0.92,325.9,264.0,12.3,322,8089,0.12,2.58,0.00,0.000,6,0.105,0.033,3061,1694,1780,0,0,0,0,0,0
$GC,8333,0.92,325.9,236.3,10.9,328,8337,0.00,2.58,0.00,0.000,4,0.000,0.058,3061,173,1780,0,0,0,0,0,0
$GC,8393,0.92,325.9,229.2,12.1,329,8397,0.00,2.42,0.00,0.000,6,0.000,0.023,3061,1699,1780,0,0,0,0,0,0
$GC,8662,0.92,325.9,199.9,11.0,336,8667,0.00,2.58,0.00,0.000,4,0.000,0.049,3061,168,1779,0,0,0,0,0,0
$GC,8688,0.92,325.9,196.7,12.5,338,8692,0.00,2.40,0.00,0.000,6,0.000,0.023,3061,1690,1780,0,0,0,0,0,0
$GC,8950,0.92,325.9,168.8,10.4,362,8954,0.00,2.53,0.00,0.000,4,0.000,0.035,3061,3252,1779,0,0,0,0,0,0
$GC,8987,0.92,325.9,164.8,11.0,365,8991,0.00,2.55,0.00,0.000,6,0.000,0.028,3061,1683,1777,0,0,0,0,0,0
$GC,9252,0.92,325.9,138.1,10.0,389,9256,0.00,2.47,0.00,0.000,4,0.000,0.047,3061,170,1777,0,0,0,0,0,0
$GC,9292,0.92,325.9,133.3,12.0,392,9300,0.00,2.42,0.00,0.000,6,0.000,0.027,3061,1696,1777,0,0,0,0,0,0
$GC,9559,0.92,325.9,106.8,10.5,417,9563,0.00,2.50,0.00,0.000,4,0.000,0.033,3061,3254,1777,0,0,0,0,0,0
$GC,9606,1.04,325.9,101.9,9.3,421,9611,0.10,2.50,0.00,0.000,6,0.075,0.028,3109,1698,1777,0,0,0,0,0,0
$GC,9870,1.04,325.9,74.3,9.6,445,9875,0.12,2.50,0.00,0.000,4,0.106,0.045,3083,171,1777,0,0,0,0,0,0
$GC,9900,1.04,325.9,71.4,9.4,447,9904,0.00,2.40,0.00,0.000,6,0.000,0.021,3083,1707,1777,0,0,0,0,0,0
$GC,10169,1.04,325.9,48.5,9.2,471,10173,0.00,2.45,0.00,0.000,4,0.000,0.031,3083,3254,1777,0,0,0,0,0,0
$GC,10222,1.15,343.8,43.6,8.3,475,10248,0.12,2.47,15.05,0.483,6,0.062,0.026,3129,1706,1716,0,0,0,0,0,0
$GC,10533,1.05,343.8,7.7,12.4,516,10542,0.20,2.55,0.00,0.000,4,0.094,0.048,3085,173,1715,0,0,0,0,0,0
$STATE,10561,end climb,SURFACE_DEPTH_REACHED
$STATE,10561,begin surface coast
$FINISH,0.6,1.010953
$STATE,10612,end surface coast,CONTROL_FINISHED_OK
$STATE,10612,begin surface
$SM_CCo,10636,37.22,0.061,0,0,1407,420.20
$SM_GC,1.66,0.00,0.00,37.22,0.000,0.000,0.061,416,1809,1407,-11.24,0.54,420.20
$IRIDIUM_FIX,2239.35,-15802.37,170300,030333
$TT8_MAMPS,0.026845
$HUMID,46.57
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,3
$24V_AH,23.6,45.376
$10V_AH,10.3,38.863
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.550,139.925,412.525,37.225,0.000,30.967,32.528,135.373,0.750,0.000,32.468,1095.938,6962.452,527.544,1938.419,493.986,33.365,1291.578,0.000,1927.894,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,66.729,868.244,61.360,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.216,326.007,408.942,616.043,1089.515,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355268
$DATA_FILE_SIZE,41520,528
$CAP_FILE_SIZE,116867,0
$CFSIZE,260165632,153366528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221210,090425,2249.755,-15801.229,39,1.5,39,10.1